VDMA; VDE; ITG; DGR; IFR (Ed.)

ISR 2016

47th International Symposium on Robotics Robotics in the era of digitalisation June, 21-22, 2016, Munich, Germany

2016, 695 pages, Slimlinebox, CD-Rom
ISBN 978-3-8007-4231-8
Personal VDE Members are entitled to a 10% discount on this title

Content Foreword

Robotics in the era of Digitalization! After two years the 47th International Symposium on Robotics ISR 2016 will again be held in Munich, Germany, from June 21-22, 2016. This international conference is jointly organized by the Mechanical Engineering Industry Association (VDMA) and the Information Technology Society (ITG) within VDE and supported by Fraunhofer IPA and the German Society for Robotics (DGR).

The international trade fair for automation and mechatronics AUTOMATICA has again been chosen as conference platform. AUTOMATICA expects more than 800 exhibitors and more than 35,000 visitors from June 21-24, 2016. As the fair will last longer than ISR 2016, there is the possibility and time for all conference participants to visit this interesting exhibition during and after the conference. In about 150 presentations, ISR 2016 will give an insight to the latest state-of-the-art robot technology to participants from both industry and science. Sessions will be held on Modeling, Planning and Control as well as Components & Technologies, also Robotics in Production / Industrial Robots will be addressed as well as Service Robotics. Additionally there will be sessions on Robotics in New Markets & Applications and on the workplace of the future. Presentations of the final nominees of the Joseph F. Engelberger Award highlight the conference's gala banquet. Of course there will be a conference poster session and video presentations of latest robot development, that can be visited between and parallel to the conference sessions. We cordially invite researchers and experts from the field of robotics to send in their abstracts and we are full of expectations for an exciting conference program in June 2016.
VDMA – Verband Deutscher Maschinen- und Anlagenbau e.V.

VDE – Verband der Elektrotechnik Elektronik Informationstechnik e.V.
Der VDE ist einer der großen europäischen Verbände für Branchen und Berufe der Elektro- und
Informationstechnik. Eine internationale Experten-Plattform für Wissenschaft, Normung und
Produktprüfung – interdisziplinär, eng verflochten, und einmalig auf der Welt. Eine geballte
Konzentration an Erfahrung, Marktkenntnissen und technologischem Know-how.

ITG – Informationstechnische Gesellschaft im VDE
Die ITG ist die nationale Vereinigung aller auf dem Gebiet der Informationstechnik Tätigen in
Wirtschaft, Verwaltung, Lehre und Forschung und Wissenschaft. Ihre Ziele sind die Förderung der wissenschaftlichen und technischen Weiterentwicklung und Bewertung der Informationstechnik in Theorie und Praxis. 1954 als Nachrichtentechnische Gesellschaft gegründet, ist sie die älteste Fachgesellschaft im VDE.

DGR – Deutsche Gesellschaft für Robotik

IFR – International Federation of Robotics

1

2

Real Time Texture Generation in Optimized Large-Scale Polygon Meshes with KinectFusion

Authors:
Mock, Alexander; Wiemann, Thomas; Borrmann, Dorit; Igelbrink, Tristan; Hertzberg, Joachim

3

Experimental Robot Inverse Dynamics Identification Using Classical and Machine Learning Techniques

Authors:
Bargsten, Vinzenz; Gea Fernandez, Jose de; Kassahun, Yohannes

4

The Advantages of Using Behavior Trees in Mult-Robot Systems

Authors:
Colledanchise, Michele; Marzinotto, Alejandro; Dimarogonas, Dimos V.; Oegren, Petter

5

Automatic Testing Framework for Benchmarking Applications

Authors:
Weisshardt, Florian; Koehler, Florian

6

Active Ankle – an Almost-Spherical Parallel Mechanism

Authors:
Simnofske, Marc; Kumar, Shivesh; Bongardt, Bertold; Kirchner, Frank

7

8

9

Development of a Self-Adaptive Gripper and Implementation of a Gripping Reflex to Increase the Dynamic Payload Capacity

Authors:
Manz, Marc; Bartsch, Sebastian; Simnofske, Marc; Kirchner, Frank

10

11

12

Reduction of Heart Rate by Robot Trajectory Profiles in Cooperative HRI

Authors:
Kuehnlenz, Barbara; Kuehnlenz, Kolja

13

Attribute Enabled Programming of Industrial Robots

Authors:
Wang, Jianjun; Rossano, Gregory; Fuhlbrigge, Thomas; Staab, Harald; Boca, Remus

14

Example Application of ISO/TS 15066 to a Collaborative Assembly Scenario

Authors:
Matthias, Bjoern; Reisinger, Thomas

15

A Flexible Architecture for Automatically Generating Robot Applications based on Expert Knowledge

Authors:
Macho, Miroslav; Naegele, Ludwig; Hoffmann, Alwin; Angerer, Andreas; Reif, Wolfgang

16

Establishing Performance Guarantees for Behavior-Based Robot Missions Using an SMT Solver

Authors:
Tang, Feng; Lyons, Damian M.; Arkin, Ronald C.

17

Industrial implementation of a multi-task redundancy resolution at velocity level for highly redundant mobile manipulators

Authors:
Scheurer, Christian; Fiore, Mario Daniele; Sharma, Shashank; Natale, Ciro

18

Data-Driven Human Grasp Movement Analysis

Authors:
Marino, Hamal; Gabiccini, Marco; Leonardis, Ales; Bicchi, Antonio

19

Distance Metrics for Path Planning with Dynamic Roadmaps

Authors:
Voelz, Andreas; Graichen, Knut

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21

May I be your Personal Coach? Bringing Together Person Tracking and Visual Re-identification on a Mobile Robot

Authors:
Wengefeld, Tim; Eisenbach, Markus; Trinh, Thanh Q.; Gross, Horst-Michael

22

Texture Characterization with Semantic Attributes: Database and Algorithm

Authors:
Bormann, Richard; Esslinger, Dominik; Hundsdoerfer, Daniel; Haegele, Martin; Vincze, Markus

23

ENACT: An Efficient and Extensible Entity-Actor Framework for Modular Robotics Software Components

Authors:
Werner, Tobias; Gradmann, Michael; Orendt, Eric M.; Sand, Maximilian; Spangenberg, Michael; Henrich, Dominik

24

Affordance Estimation For Vision-Based Object Replacement on a Humanoid Robot

Authors:
Mustafa, Wail; Waechter, Mirko; Szedmak, Sandor; Agostini, Alejandro

25

A Framework for Robot Control Software Development and Debugging Using a Real-Time Capable Physics Simulation

Authors:
Aichele, Fabian; Schenke, Bjoern; Eckstein, Bernd; Groz, Albert

26

Modularization of skill ontologies for industrial robots

Authors:
Jacobsson, Ludwig; Malec, Jacek; Nilsson, Klas

27

User-Defined Transition between Path Segments in Terms of Tolerances in Speed and Position Deviation

Authors:
Weber, Wolfgang; Koenig, Alexander; Nodem, Dany Xavier

28

Robot Assembly Skills Based on Compliant Motion

Authors:
Dai, Fan; Wahrburg, Arne; Matthias, Bjoern; Ding, Hao

29

Editing and synchronizing multi-robot playback programs

Authors:
Riedl, Michael; Baumgartl, Johannes; Henrich, Dominik

30

31

Experimental verification of the advantages of a modular open chain metamorphic manipulator

Authors:
Valsamos, Charalampos; Moulianitis, Vassilis; Aspragathos, Nikos

32

Online Calibration of Industrial Robots using Inertial Sensors

Authors:
Vieler, Hendrik; Lechler, Armin; Grimm, Jochen

33

Practical trajectory designs for semi-automation of forestry cranes

Authors:
Fodor, Szabolcs; Freidovich, Leonid; Vazquez, Carlos

34

35

Autonomous Surveying of Underfloor Voids

Authors:
Julia, Miguel; Holloway, Mathew; Reinoso, Oscar; Childs, Peter R. N.

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39

SmartWorkbench: Toward Adaptive and Transparent User Assistance in Industrial Human-Robot Applications

Authors:
Hoecherl, Johannes; Schlegl, Thomas; Berlehner, Thomas; Kuhn, Harald; Wrede, Britta

40

Model Predictive Contact Control for Human-Robot Interaction

Authors:
Zube, Angelika; Hofmann, Jonas; Frese, Christian

41

42

A Sampling-Based Tree Planner for Navigation Among Movable Obstacles

Authors:
Castaman, Nicola; Tosello, Elisa; Pagello, Enrico

43

What Older Adults would Like a robot to Do in Their Homes – First results from a User Study in the Homes of Users

Authors:
Vincze, Markus; Fischinger, David; Bajones, Markus; Wolf, Daniel; Suchi, Markus; Lammer, Lara; Weiss, Astrid; Pripfl, Juergen; Koertner, Tobias; Gisinger, Christoph

44

Enabling Autonomous Locomotion into Sand – A Mobile and Modular Drilling Robot

Authors:
Becker, Felix; Boerner, Simon; Lichtenheldt, Roy; Zimmermann, Klaus

45

A robot for spray applied insulation in underfloor voids

Authors:
Holloway, Mathew; Julia, Miguel; Childs, Peter

46

Automatic Tire Changing of Large Mining Vehicles with Industrial Robots

Authors:
Staab, Harald; Boca, Remus; Martinez, Carlos; Rossano, Greg; Eakins, Will; Lasko, Dan; Fuhlbrigge, Tom

47

Sensorless Null-Space Admittance Control for Redundant Manipulators

Authors:
Wahrburg, Arne; Boes, Johannes; Matthias, Bjoern; Dai, Fan; Ding, Hao

48

A wireless haptic data suit for controlling humanoid robots

Authors:
Graziano, Alessandro; Tripicchio, Paolo; Avizzano, Carlo Alberto; Ruffaldi, Emanuele

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50

Planning and Execution of Collision-free Multi-robot Trajectories in Industrial Applications

Authors:
Angerer, Andreas; Hoffmann, Alwin; Larsen, Lars; Vistein, Michael; Kim, Jonghwa; Kupke, Michael; Reif, Wolfgang

51

Anytime Assembly Sequence Planning

Authors:
Andre, Robert; Thomas, Ulrike

52

A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution

Authors:
Nottensteiner, Korbinian; Bodenmueller, Tim; Kassecker, Michael; Roa, Maximo A.; Stemmer, Andreas; Stouraitis, Theodoros; Seidel, Daniel; Thomas, Ulrike

53

Improved Ergonomics via an Intelligent Movement and Gesture Detection Jacket

Authors:
Kuschan, Jan; Schmidt, Henning; Krueger, Joerg

54

Development and Control of the Multi-Legged Robot MANTIS

Authors:
Bartsch, Sebastian; Manz, Marc; Kampmann, Peter; Dettmann, Alexander; Hanff, Hendrik; Langosz, Malte; Szadkowski, Kai von; Hilljegerdes, Jens; Simnofske, Marc; Kloss, Philipp; Meder, Manuel; Kirchner, Frank

55

The Neurorobotic Platform: A simulation environment for brain-inspired robotics

Authors:
Roehrbein, Florian; Gewaltig, Marc-Oliver; Laschi, Cecilia; Klinker, Gudrun; Levi, Paul; Knoll, Alois

56

57

Using a Flexible Skill-Based Approach to Recognize Objects in Industrial Scenarios

Authors:
Andersen, Rasmus S.; Schou, Casper; Damgaard, Jens S.; Madsen, Ole

58

59

60

Laser scanner detection and localization of successively arranged mobile robots

Authors:
Halmheu, Rainer; Otto, Boris; Pauleser, Thomas

61

Analytic Forward and Inverse Kinematics of a Multi-Elastic-Link Robot Arm

Authors:
Alsayegh, Myrel; Mues, Freia Irina; Malzahn, Joern; Bertram, Torsten

62

3D Scanning of Workpieces with Cooperative Industrial Robot Arms

Authors:
Wagner, Maximilian; Hess, Peter; Reitelshoefer, Sebastian; Franke, Joerg

63

Visual/Tactile sensing to monitor grasps with robot-hand for planar elastic objects

Authors:
Gil, Pablo; Mateo, Carlos M.; Delgado, Angel; Torres, Fernando

64

Development of an intelligent care cart and new supplies concepts for care homes and hospitals

Authors:
Graf, B.; King, R. S.; Schiller, C.; Roessner, A.

65

Test concept for a mobile robot with optimized traction

Authors:
Barthuber, Ludwig; Fyraj, Klajdo; Firsching, Peter

66

67

68

A new Multi-Modal Approach towards reliable Bin-Picking Application

Authors:
Mueller, Veit; Behrens, Roland; Elkmann, Norbert

69

70

Influence of Grasping Position to Robot Assembling Task

Authors:
Suyama, Akira; Aiyama, Yasumichi

71

A Virtual Space Robotics Testbed for Optical Sensors in Aerospace Applications

Authors:
Emde, Markus; Priggemeyer, Marc; Steil, Thomas; Grinshpun, Georgij; Rossmann, Juergen

72

Folding mechanism for a remotely deployable robotic vehicle

Authors:
Holloway, Mathew; Julia, Miguel; Childs, Peter

73

Context-aware Planning by Refinement for Personal Robots in Smart Homes

Authors:
Ramoly, Nathan; Bouzeghoub, Amel; Finance, Beatrice

74

Dynamic modeling of new modular manipulators

Authors:
Forgo, Zoltan; Szilagyi, Arnold

75

On Cognitive RobotWoodworking in SMErobotics

Authors:
Haage, Mathias; Profanter, Stefan; Kessler, Ingmar; Perzylo, Alexander; Somani, Nikhil; Soernmo, Olof; Karlsson, Martin; Robertz, Sven Gestegard; Nilsson, Klas; Resch, Ludovic; Marti, Michael

76

Learning and executing rhythmic movements through chaotic neural networks: a new method for walking humanoid robots

Authors:
Bana, Matteo; Franchi, Alessio Mauro; Gini, Giuseppina; Keldibek, Amina; Folgheraiter, Michele

77

78

79

7DoF Hand and Arm Tracking for Teleoperation of Anthropomorphic Robots

Authors:
Grasshoff, Jan; Hansen, Lasse; Kuhlemann, Ivo; Ehlers, Kristian

80

81

Novel Intelligent Technologies for Industrial Robot in Manufacturing – Architectures and Applications

Authors:
Okuda, Haruhisa; Haraguchi, Rintaro; Domae, Yukiyasu; Shiratsuchi, Koji

82

Two Autonomous Robots for the DLR SpaceBot Cup – Lessons Learned from 60 Minutes on the Moon

Authors:
Lange, Sven; Wunschel, Daniel; Schubert, Stefan; Pfeifer, Tim; Weissig, Peter; Uhlig, Andreas; Truschzinski, Martina; Protzel, Peter

83

Ultra-Flexible Production Systems for Automated Factories

Authors:
Boca, Remus; Fuhlbrigge, Thomas; Staab, Harald; Zhang, George; Choi, Sang; Martinez, Carlos; Eakins, William; Rossano, Gregory; Nidamarthi, Srinivas

84

Mechatronics Practice in Education Step by Step, Workshop on Mobile Robotics

Authors:
Yudin, Anton; Salmina, Maria; Sukhotskiy, Vladimir; Dessimoz, Jean-Daniel

85

86

Relative Motion Estimation Based on Sensor Eigenfusion Using a Stereoscopic Vision System and Adaptive Statistical Filtering

Authors:
Notomista, Gennaro; Kammenhuber, Alexander; Nadarajan, Parthasarathy; Botsch, Michael; Selvaggio, Mario

87

Advanced safety solutions for human-robot-cooperation

Authors:
Salmi, Timo; Marstio, Ilari; Malm, Timo; Montonen, Jari

88

89

Automatic Gyro Effect Simulation for Robotic Painting Application

Authors:
Li, Xiongzi; Wang, Jianjun; Choi, Sang; Li, Ray; Riveland, Steinar; Landsnes, Oeyvind; Hara, Masao

90

Detection of Assembly Variations for Automatic Program Adaptation in Robotic Welding Systems

Authors:
Kuss, Alexander; Schneider, Ulrich; Dietz, Thomas; Verl, Alexander

91

92

Teaching Door Assembly Tasks in Uncertain Environment

Authors:
Michieletto, Stefano; Stival, Francesca; Castelli, Francesco; Pagello, Enrico

93

A variant-flexible assembly cell for hydraulic valve sections using a sensitive lightweight robot

Authors:
Lehmann, Christian; Staedter, J. Philipp; Waechter, Kornelius

94

Analysis and Development of the Fused Layer Manufacturing Process using Industrial Robots

Authors:
Rieger, Michael; Johnen, Benjamin; Kuhlenkötter, Bernd

95

Repair of composite structures with a novel human-machine system

Authors:
Rodeck, Rebecca; Schueppstuhl, Thorsten

96

Machine Learning In Incremental Sheet Forming

Authors:
Stoerkle, Denis Daniel; Seim, Patrick; Thyssen, Lars; Kuhlenkoetter, Bernd

97

Robot based automation of artistic stone surface production

Authors:
Steinhagen, Gregor; Braumann, Johannes; Krewet, Carsten; Brueninghaus, Jan; Brell-Cokcan, Sigrid; Kuhlenkoetter, Bernd

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99

Automatic Programming and Control for Robotic Deburring

Authors:
Diaz Posada, Julian Ricardo; Kumar, Shivaram; Kuss, Alexander; Schneider, Ulrich; Drust, Manuel; Dietz, Thomas; Verl, Alexander

100

AnyWalker: all-terrain robotic chassis

Authors:
Ryadchikov, Igor; Sechenev, Semyon; Svidlov, Alexander; Sinitsa, Sergey; Buskandze, Zurab; Nikulchev, Evgeny